splineUntil

fun splineUntil(disp: Double, heading: Rotation2d): PosePathBuilder
fun splineUntil(disp: Double, heading: Double): PosePathBuilder

Fills in headings interpolated with a spline to heading heading at displacement disp.

Flexibility in the choice of spline endpoint derivatives allows splineUntil to both precede and succeed any other heading segment. And in fact the heading at both knots will be \(C^2\)-continuous.